CN106426079A - Multipurpose mechanical hand - Google Patents
Multipurpose mechanical hand Download PDFInfo
- Publication number
- CN106426079A CN106426079A CN201611029081.3A CN201611029081A CN106426079A CN 106426079 A CN106426079 A CN 106426079A CN 201611029081 A CN201611029081 A CN 201611029081A CN 106426079 A CN106426079 A CN 106426079A
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- China
- Prior art keywords
- fixed
- support
- controlled
- motor
- mecanum wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multipurpose mechanical hand. The mechanical hand is composed of motors, Mecanum wheels, a vertical arm mechanism, a mechanical hand clamping mechanism, a hydraulic mechanism and a supporting rod mechanism. The Mecanum wheels are arranged at the bottom of the mechanical hand, the working space of the mechanical hand can be increased, and therefore the mechanical hand is more flexible to walk, convenient to control and convenient and rapid to operate. During practical production, the automation degree of the production process can be increased, the mechanical hand can replace people for normal work in severe environments, and is good in performance and simple and durable in structure, specific home functions can be achieved in daily life, and daily life of people becomes convenient.
Description
Technical field
The present invention relates to manipulator design field, particularly a kind of Multi-purpose mechanical handss.
Background technology
With scientific and technical development, mechanical hand is also employed more and more.In mechanical industry, casting, forging, weldering, riveting,
The work posts such as punching press, heat treatment, machining, assembling, inspection, spray painting, plating have the example of application.Other departments, such as light industry
Also all there is application in the work such as industry, building industry, national defense industry.In actual production, application mechanical hand can improve production process
Automaticity, such that it is able to raising labour productivity and reducing production cost.In severe production environment, such as high temperature is high
People is replaced to carry out normal work to reduce labor intensity it is ensured that product quality with mechanical hand in the environment such as pressure, dust noise, real
Now keep the safety in production.On the other hand, current robot does not also popularize in people's daily life, and mechanical hand possesses part intelligent machine
After the function of people, the life that us can be made daily becomes very convenient, such as remote control, on a large scale interior mobile article etc..At present
There is not yet a kind of structure is simple, simple operation, the Multi-purpose mechanical handss that easy to control, activity space is big.
Content of the invention
It is an object of the invention to provide a kind of Multi-purpose mechanical handss, in actual production, it can improve the automatization of production process
Degree, can replace people to carry out normal work in the presence of a harsh environment, and functional, structure simple and durable in daily life can also
Realize particular home claim credit for oneself can, make daily life become convenient.
The present invention reaches above-mentioned purpose by the following technical programs：
A kind of Multi-purpose mechanical handss by motor, Mecanum wheel, vertical arm mechanism, manipulator clamping mechanism, hydraulic mechanism and
Support rod mechanism forms.
Described motor is controllable motor, by the first controllable motor, the second controllable motor, the 3rd controllable motor, the 4th controlled
Motor, the 5th controllable motor, the 6th controllable motor and the 7th controllable motor composition；Described Mecanum wheel is controlled Mecanum
Wheel, is received by the first controlled Mecanum wheel, the second controlled Mecanum wheel, the 3rd controlled Mecanum wheel and the 4th controlled Mike
Nurse wheel forms；First controllable motor be fixed on the base of the first wheat controlled Mecanum wheel coaxial line on, the second controllable motor
Be fixed on the base of the second controlled Mecanum wheel coaxial line on, the 3rd controllable motor is fixed on and the 3rd controlled Mecanum
Wheel coaxial line base on, the 4th controllable motor be fixed on the base of the 4th controlled Mecanum wheel coaxial line on.
Described vertical arm mechanism by motor fixing plate, motor support plate, first support bar, the first limit switch, first
Bracer, clutch shaft bearing, first bearing seat, the second limit switch, bearings block, first support fixed block, the second gripper shoe, hang down
Straight-arm bracing frame, contact rotating disk, carousel support plate, second shaft coupling, second support fixed block, the 3rd limit switch, second
Strut, leading screw, the second support block, the 4th limit switch, thread support, first shaft coupling, second bearing seat, swivel link,
Two bearings, control circuit power pack and big base composition；Motor fixing plate is fixed in motor support plate, first support bar and
One end of two support bars is separately fixed at the two ends of motor support plate, and the other end of first support bar is fixed on first support and fixes
On block, the other end of second support bar is fixed on second support fixed block, and the first limit switch and the second limit switch are respectively
It is fixed on the two ends of first support bar, the 3rd limit switch and the 4th limit switch are separately fixed at the two ends of second support bar,
First support block is arranged in first support bar, and is located between the first limit switch and the second limit switch, the first support
Block slides up and down along first support bar, and the second support block is arranged in second support bar, and be located at the 3rd limit switch and
Between 4th limit switch, the second support block slides up and down along second support bar, and first support fixed block and second support are solid
Determine the two ends that block is separately fixed at the second gripper shoe；Bearings block is fixed in the second gripper shoe, and first bearing seat is fixed on
In second gripper shoe, clutch shaft bearing is arranged in first bearing seat, and one end of leading screw and clutch shaft bearing coordinate, the leading screw other end with
Thread support is connected, and the smooth bar part of leading screw is connected with the 7th controllable motor by first shaft coupling, and upright arm bracing frame is fixed
In control circuit power pack upper surface, second bearing seat is fixed on upright arm bracing frame, and second bearing is arranged on second bearing
In seat, swivel link is coordinated with second bearing, and carousel support plate is fixed on control circuit power pack upper surface and is located at upright arm
Immediately below bracing frame, contact rotating disk is arranged on directly over carousel support plate and by contacting probe and carousel support plate on rotating disk
Contact, swivel link is interfixed with the second gripper shoe, and the other end of swivel link passes through second shaft coupling and the 5th controllable electric
Machine is connected, and control circuit power pack is fixed on big base, and the 5th controllable motor is fixed on big base, and the 7th controllable motor is solid
It is scheduled on the motor fixing plate at vertical arm mechanism top.
Described manipulator clamping mechanism is by the first gripper, the second gripper, the first gripper gripper shoe, the second gripper
Gripper shoe, the first smooth cylindrical hinge, the second smooth cylindrical hinge, the 3rd smooth cylindrical hinge, first connecting rod and second connecting rod
Composition；First gripper gripper shoe is fixed in the first support block and the second support block, and the second gripper gripper shoe is fixed on
In one gripper gripper shoe, the afterbody of the first gripper is connected with first connecting rod by the first smooth cylindrical hinge, the second machinery
Pawl afterbody be connected with second connecting rod by the second smooth cylindrical hinge, first connecting rod pass through the 3rd smooth cylindrical hinge and second
Connecting rod is connected.
Described hydraulic mechanism is made up of hydraulic cylinder, the first oil pipe, the second oil pipe, hydraulic oil container and the first gripper shoe, hydraulic pressure
Cylinder is configured with piston rod, and the piston rod of hydraulic cylinder is connected with first connecting rod and second connecting rod by the 3rd smooth cylindrical hinge, liquid
Cylinder pressure is fixed in the second gripper gripper shoe, and one end of the first oil pipe and the second oil pipe is separately fixed at the two ends of hydraulic cylinder,
The other end of the first oil pipe and the second oil pipe is separately fixed on hydraulic oil container, and hydraulic oil container is fixed in the first gripper shoe, the
Six controllable motors are fixed on hydraulic oil container.
Described support rod mechanism is made up of fixing nut, damping spring, support bar and universal wheel；Universal wheel is fixed on support
Bar one end, the support bar other end is screw rod, and damping spring is enclosed within the screw rod of support bar, and fixing nut is screwed in support bar screw rod
On, the screw rod of support bar is fixed in the first gripper shoe by fixing nut.
, positioned at the side of big base, the described 3rd can for described first controlled Mecanum wheel and the second controlled Mecanum wheel
Control Mecanum wheel and the 4th controlled Mecanum wheel is located at the opposite side of big base.
Described first controllable motor drives the first controlled Mecanum wheel to rotate, and the second controllable motor drives second
Controlled Mecanum wheel rotates, and the 3rd controllable motor drives the 3rd controlled Mecanum wheel to rotate, and the 4th can
The control controlled Mecanum wheel of Motor drive the 4th rotates, and the 5th controllable motor drives swivel link to rotate, the
Six controllable motors drive hydraulic mechanism work, and the 7th controllable motor drives leading screw to rotate.
The inside of described control circuit power pack is used for installing places all kinds of electronic devices and components.
The present invention has the prominent advantages that：
1. bottom of the present invention is Mecanum wheel, its work space can be made to increase, and it is more flexible to walk, and is easy to control
System, simple operation.
2. install the support bar of adjustable length under the first gripper shoe of the hydraulic mechanism of the present invention additional, and pacify under support bar
Dress universal wheel, makes Multi-purpose mechanical handss also can steadily walk in roughness pavement.
Brief description
Fig. 1 is the manipulator clamping mechanism structure view of Multi-purpose mechanical handss of the present invention.
Fig. 2 is the upright arm mechanism structure view of Multi-purpose mechanical handss of the present invention.
Fig. 3 is the hydraulic mechanism topology view of Multi-purpose mechanical handss of the present invention.
Fig. 4 is the support rod mechanism topology view of Multi-purpose mechanical handss of the present invention.
Fig. 5 is Mecanum wheel and the circuit control part view of Multi-purpose mechanical handss of the present invention.
Fig. 6 is the overall structure view of Multi-purpose mechanical handss of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment it is clear that embodiment
It is only a part of embodiment of the present invention, rather than whole embodiments.Based on embodiments of the invention, people in the art
The every other embodiment that member is obtained on the premise of not making creative work, belongs to the scope of protection of the invention.
Comparison Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, a kind of Multi-purpose mechanical handss are by motor, Mecanum wheel, upright arm machine
Structure, manipulator clamping mechanism, hydraulic mechanism and support rod mechanism composition.
Described motor is controllable motor, by the first controllable motor 52, the second controllable motor 50, the 3rd controllable motor 55, the
Four controllable motors 57, the 5th controllable motor 23, the 6th controllable motor 36 and the 7th controllable motor 9 form；Described Mecanum wheel
For controlled Mecanum wheel, the first controlled Mecanum wheel 53, the second controlled Mecanum wheel 51, the 3rd controlled Mecanum wheel
56 and the 4th controlled Mecanum wheel 45 form；First controllable motor 52 is fixed on Ke Namu controlled with the first wheat and takes turns 53 coaxial lines
Base on, the second controllable motor 50 be fixed on the base of the second controlled Mecanum wheel 51 coaxial line on, the 3rd controllable electric
Machine 55 be fixed on the base of the 3rd controlled Mecanum wheel 56 coaxial line on, the 4th controllable motor 57 is fixed on controlled with the 4th
On the base of Mecanum wheel 45 coaxial line.
Described vertical arm mechanism is by motor fixing plate 10, motor support plate 11, first support bar 12, the first limit switch
13rd, the first support block 14, clutch shaft bearing 15, first bearing seat 16, the second limit switch 17, bearings block 18, first support
Fixed block 19, the second gripper shoe 20, upright arm bracing frame 21, contact rotating disk 22, carousel support plate 24, second shaft coupling 25, the
Two support fixed blocks 26, the 3rd limit switch 27, second support bar 28, leading screw 29, the second support block 30, the 4th limit switch
31st, thread support 32, first shaft coupling 33, second bearing seat 47, swivel link 48, second bearing 49, control circuit power pack
46 and big base 54 form；Motor fixing plate 10 is fixed in motor support plate 11.First support bar 12 and second support bar 28
One end be separately fixed at the two ends of motor support plate 11, the other end of first support bar 12 is fixed on first support fixed block 19
On, the other end of second support bar 28 is fixed on second support fixed block 26.First limit switch 13 and the second limit switch
17 two ends being separately fixed at first support bar 12, the 3rd limit switch 27 and the 4th limit switch 31 are separately fixed at second
The two ends of strut 28.First support block 14 is arranged in first support bar 12, and is located at the first limit switch 13 and the second limit
Between bit switch 17, the first support block 14 can slide up and down along first support bar 12, and the second support block 30 is arranged on second
On support bar 28, and it is located between the 3rd limit switch 27 and the 4th limit switch 31, the second support block 30 can be along the
Two support bars 28 slide up and down.First support fixed block 19 and second support fixed block 26 are separately fixed at the second gripper shoe 20
Two ends.Bearings block 18 is fixed in the second gripper shoe 20, and first bearing seat 16 is fixed in the second gripper shoe 20, first axle
Hold 15 to be arranged in first bearing seat 16, one end of leading screw 29 is coordinated with clutch shaft bearing 15, leading screw 29 other end and thread support
32 are connected, and the smooth bar part of leading screw 29 is connected with the 7th controllable motor 9 by first shaft coupling 33, and upright arm bracing frame 21 is fixing
In control circuit power pack 46 upper surface, second bearing seat 47 is fixed on upright arm bracing frame 21, and second bearing 49 is arranged on
In second bearing seat 47, swivel link 48 is coordinated with second bearing 49.Carousel support plate 24 is fixed on control circuit power pack 46
Upper surface is simultaneously located at immediately below upright arm bracing frame 21, and contact rotating disk 22 is arranged on directly over carousel support plate 24 and by contact
Probe on rotating disk 22 is contacted with carousel support plate 24, and swivel link 48 is interfixed with the second gripper shoe 20, swivel link 48
The other end be connected with the 5th controllable motor 23 by second shaft coupling 25, control circuit power pack 46 is fixed on big base 54
On, the 5th controllable motor 23 is fixed on big base 54, and the motor that the 7th controllable motor 9 is fixed on vertical arm mechanism top is fixed
On plate 10.
Described manipulator clamping mechanism is by the first gripper 1, the second gripper 8, the first gripper gripper shoe 2, the second machine
Machinery claw gripper shoe 34, the first smooth cylindrical hinge 7, the second smooth cylindrical hinge 3, the 3rd smooth cylindrical hinge 5, first connecting rod 6,
Second connecting rod 4 forms；First gripper gripper shoe 2 is fixed in the first support block 14 and the second support block 30, the second gripper
Gripper shoe 34 is fixed in the first gripper gripper shoe 2.The afterbody of the first gripper 1 passes through the first smooth cylindrical hinge 7 and the
One connecting rod 6 is connected, and the afterbody of the second gripper 8 is connected with second connecting rod 4 by the second smooth cylindrical hinge 3, and first connecting rod 6 leads to
Cross the 3rd smooth cylindrical hinge 5 to be connected with second connecting rod 4.
Described hydraulic mechanism is by hydraulic cylinder 35, the first oil pipe 39, the second oil pipe 40, hydraulic oil container 37 and the first gripper shoe 38
Constitute.Hydraulic cylinder 35 is configured with piston rod 58, and the piston rod of hydraulic cylinder 35 passes through the 3rd smooth cylindrical hinge 5 and first connecting rod 6
It is connected with second connecting rod 4.Hydraulic cylinder 35 is fixed in the second gripper gripper shoe 34, and the one of the first oil pipe 39 and the second oil pipe 40
End is separately fixed at the two ends of hydraulic cylinder 35, and the other end of the first oil pipe 39 and the second oil pipe 40 is separately fixed at hydraulic oil container 37
On, hydraulic oil container 37 is fixed in the first gripper shoe 38, and the 6th controllable motor 36 is fixed on hydraulic oil container 37.
Described support rod mechanism is made up of fixing nut 41, damping spring 42, support bar 43 and universal wheel 44.Universal wheel 44
It is fixed on support bar 43 one end, support bar 43 other end is screw rod, damping spring 42 is enclosed within the screw rod of support bar 43, fixing spiral shell
Female 41 are screwed on support bar 43 screw rod.The screw rod of support bar 43 is fixed in the first gripper shoe 38 by fixing nut 41.
Described first controlled Mecanum wheel 53 and the second controlled Mecanum wheel 51 are positioned at the side of big base 54, described
3rd controlled Mecanum wheel 56 and the 4th controlled Mecanum wheel 45 are located at the opposite side of big base 54.
The inside of described control circuit power pack 46 is used for installing places all kinds of electronic devices and components.
When described Multi-purpose mechanical is made by hand, the first controllable motor 52 drives the first controlled Mecanum wheel 53 to make rotation fortune
Dynamic, the second controllable motor 50 drives the second controlled Mecanum wheel 51 to rotate, and the 3rd controllable motor 55 driving the 3rd can
Control Mecanum wheel 56 rotates, and the 4th controllable motor 57 drives the 4th controlled Mecanum wheel 45 to rotate.The
Five controllable motor 23 drives swivel link 48 to rotate.6th controllable motor 36 drives hydraulic mechanism work.Hydraulic oil from
First oil pipe 39 enters, and the second oil pipe 40 flows out, and the piston rod outward movment of hydraulic cylinder 35 drives the first gripper 1 and the second machine
Machinery claw 8 is opened.Hydraulic oil enters from the second oil pipe 40, flows out from the first oil pipe 39, the piston rod inward movement band of hydraulic cylinder 35
Dynamic first gripper 1 and the second gripper 8 close.7th controllable motor 9 drives leading screw 29 to rotate, and so that leading screw 29 is passed through
Moving up and down of leading screw 29 is realized in cooperation with thread support 32, drives whole manipulator clamping mechanism to move up and down.
Claims (3)
1. a kind of Multi-purpose mechanical handss are it is characterised in that described Multi-purpose mechanical handss are by motor, Mecanum wheel, vertical arm mechanism, machine
Tool handss clamping device, hydraulic mechanism and support rod mechanism composition；
Described motor be controllable motor, by the first controllable motor, the second controllable motor, the 3rd controllable motor, the 4th controllable motor,
5th controllable motor, the 6th controllable motor and the 7th controllable motor composition；Described Mecanum wheel is controlled Mecanum wheel, by
First controlled Mecanum wheel, the second controlled Mecanum wheel, the 3rd controlled Mecanum wheel and the 4th controlled Mecanum wheel
Composition；First controllable motor be fixed on the base of the first controlled Mecanum wheel coaxial line on, the second controllable motor is fixed on
On the base of the second controlled Mecanum wheel coaxial line, the 3rd controllable motor is fixed on coaxial with the 3rd controlled Mecanum wheel
On the base of line, the 4th controllable motor be fixed on the base of the 4th controlled Mecanum wheel coaxial line on；
Described vertical arm mechanism by motor fixing plate, motor support plate, first support bar, the first limit switch, the first support block,
Clutch shaft bearing, first bearing seat, the second limit switch, bearings block, first support fixed block, the second gripper shoe, upright arm
Bracing frame, contact rotating disk, carousel support plate, second shaft coupling, second support fixed block, the 3rd limit switch, second support bar,
Leading screw, the second support block, the 4th limit switch, thread support, first shaft coupling, second bearing seat, swivel link, the second axle
Hold, control circuit power pack and big base form；Motor fixing plate is fixed in motor support plate, first support bar and second
One end of strut is separately fixed at the two ends of motor support plate, and the other end of first support bar is fixed on first support fixed block
On, the other end of second support bar is fixed on second support fixed block, and the first limit switch and the second limit switch are solid respectively
It is scheduled on the two ends of first support bar, the 3rd limit switch and the 4th limit switch are separately fixed at the two ends of second support bar,
One support block is arranged in first support bar, and is located between the first limit switch and the second limit switch, the first support block
Slide up and down along first support bar, the second support block is arranged in second support bar, and be located at the 3rd limit switch and the
Between four limit switches, the second support block slides up and down along second support bar, and first support fixed block and second support are fixed
Block is separately fixed at the two ends of the second gripper shoe；Bearings block is fixed in the second gripper shoe, and first bearing seat is fixed on
In two gripper shoes, clutch shaft bearing is arranged in first bearing seat, and one end of leading screw and clutch shaft bearing coordinate, the leading screw other end and spiral shell
Stricture of vagina bearing is connected, and the smooth bar part of leading screw is connected with the 7th controllable motor by first shaft coupling, and upright arm bracing frame is fixed on
Control circuit power pack upper surface, second bearing seat is fixed on upright arm bracing frame, and second bearing is arranged on second bearing seat
Interior, swivel link is coordinated with second bearing, and carousel support plate is fixed on control circuit power pack upper surface and props up positioned at upright arm
Immediately below support, contact rotating disk is arranged on directly over carousel support plate and is connect with carousel support plate by contacting the probe on rotating disk
Touch, swivel link is interfixed with the second gripper shoe, the other end of swivel link passes through second shaft coupling and the 5th controllable motor
It is connected, control circuit power pack is fixed on big base, and the 5th controllable motor is fixed on big base, and the 7th controllable motor is fixed
On the motor fixing plate at vertical arm mechanism top；
Described manipulator clamping mechanism is supported by the first gripper, the second gripper, the first gripper gripper shoe, the second gripper
Plate, the first smooth cylindrical hinge, the second smooth cylindrical hinge, the 3rd smooth cylindrical hinge, first connecting rod and second connecting rod composition；
First gripper gripper shoe is fixed in the first support block and the second support block, and the second gripper gripper shoe is fixed on the first machinery
In pawl gripper shoe, the afterbody of the first gripper is connected with first connecting rod by the first smooth cylindrical hinge, the pawl tail of the second machinery
Portion is connected with second connecting rod by the second smooth cylindrical hinge, and first connecting rod passes through the 3rd smooth cylindrical hinge and second connecting rod phase
Even；
Described hydraulic mechanism is made up of hydraulic cylinder, the first oil pipe, the second oil pipe, hydraulic oil container and the first gripper shoe, and hydraulic cylinder is joined
It is equipped with piston rod, the piston rod of hydraulic cylinder is connected with first connecting rod and second connecting rod by the 3rd smooth cylindrical hinge, hydraulic cylinder
It is fixed in the second gripper gripper shoe, one end of the first oil pipe and the second oil pipe is separately fixed at the two ends of hydraulic cylinder, first
The other end of oil pipe and the second oil pipe is separately fixed on hydraulic oil container, and hydraulic oil container is fixed in the first gripper shoe, and the 6th can
Control motor is fixed on hydraulic oil container；
Described support rod mechanism is made up of fixing nut, damping spring, support bar and universal wheel；Universal wheel is fixed on support bar one
End, the support bar other end is screw rod, and damping spring is enclosed within the screw rod of support bar, and fixing nut is screwed on support bar screw rod,
The screw rod of strut is fixed in the first gripper shoe by fixing nut；
Described first controlled Mecanum wheel and the second controlled Mecanum wheel are positioned at the side of big base, described 3rd controlled wheat
Ke Namu wheel and the 4th controlled Mecanum wheel are located at the opposite side of big base.
2. a kind of Multi-purpose mechanical handss described in 1 are wanted it is characterised in that described first controllable motor driving first is controlled according to right
Mecanum wheel rotates, and the second controllable motor drives the second controlled Mecanum wheel to rotate, the 3rd controllable electric
Machine drives the 3rd controlled Mecanum wheel to rotate, and the 4th controllable motor drives the 4th controlled Mecanum crop rotation rotation fortune
Dynamic, the 5th controllable motor drives swivel link to rotate, and the 6th controllable motor drives hydraulic mechanism work, the 7th controllable electric
Machine drives leading screw to rotate.
3. a kind of Multi-purpose mechanical handss described in 1 are wanted it is characterised in that the inside of described control circuit power pack is used for according to right
Install and place all kinds of electronic devices and components.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029081.3A CN106426079B (en) | 2016-11-20 | 2016-11-20 | A kind of Multi-purpose mechanical hand |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611029081.3A CN106426079B (en) | 2016-11-20 | 2016-11-20 | A kind of Multi-purpose mechanical hand |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106426079A true CN106426079A (en) | 2017-02-22 |
| CN106426079B CN106426079B (en) | 2018-07-06 |
Family
ID=58221453
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611029081.3A Active CN106426079B (en) | 2016-11-20 | 2016-11-20 | A kind of Multi-purpose mechanical hand |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106426079B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771078A (en) * | 2021-09-14 | 2021-12-10 | 盐城刚达机械有限公司 | Metal is centre gripping subassembly for hot working processing with protective structure |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013019301A1 (en) * | 2011-07-18 | 2013-02-07 | The Boeing Company | Holonomic motion vehicle for travel on non-level surfaces |
| CN202805179U (en) * | 2012-08-09 | 2013-03-20 | 成都博课启睿科技有限公司 | Crank-type multi-functional manipulator |
| CN204473750U (en) * | 2014-12-18 | 2015-07-15 | 麦锦坤 | Intelligent carriage |
| CN204712039U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of Omni-mobile hoolivan |
| KR20150118602A (en) * | 2014-04-14 | 2015-10-23 | 부산대학교 산학협력단 | the ball-robot using the mecanum wheels |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
-
2016
- 2016-11-20 CN CN201611029081.3A patent/CN106426079B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2013019301A1 (en) * | 2011-07-18 | 2013-02-07 | The Boeing Company | Holonomic motion vehicle for travel on non-level surfaces |
| CN202805179U (en) * | 2012-08-09 | 2013-03-20 | 成都博课启睿科技有限公司 | Crank-type multi-functional manipulator |
| KR20150118602A (en) * | 2014-04-14 | 2015-10-23 | 부산대학교 산학협력단 | the ball-robot using the mecanum wheels |
| CN204473750U (en) * | 2014-12-18 | 2015-07-15 | 麦锦坤 | Intelligent carriage |
| CN204712039U (en) * | 2015-05-19 | 2015-10-21 | 上海智远弘业机器人有限公司 | A kind of Omni-mobile hoolivan |
| CN105479433A (en) * | 2016-01-04 | 2016-04-13 | 江苏科技大学 | Omnidirectional moving transfer robot with Mecanum wheels |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113771078A (en) * | 2021-09-14 | 2021-12-10 | 盐城刚达机械有限公司 | Metal is centre gripping subassembly for hot working processing with protective structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106426079B (en) | 2018-07-06 |
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